US4807762A - Procedure for sorting a granular material and a machine for executing the procedure - Google Patents

Procedure for sorting a granular material and a machine for executing the procedure Download PDF

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US4807762A
US4807762A US06/918,626 US91862686A US4807762A US 4807762 A US4807762 A US 4807762A US 91862686 A US91862686 A US 91862686A US 4807762 A US4807762 A US 4807762A
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grain
grains
color
value
values
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US06/918,626
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Ernesto Illy
William S. Maughan
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Gunsons Sortex Ltd
Illycaffe SpA
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Gunsons Sortex Ltd
Illycaffe SpA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain

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  • This invention concerns a procedure for sorting a granular material and a machine for executing the procedure.
  • the granular material may consist of grain, beans, such as coffee beans, or other beans, nuts and the like but, for the sake of simplicity, the single units composing a batch of granular material will hereinafter be called grains.
  • These machines generally comprise: a transfer unit in which the grains move and are given initial propulsion beginning to separate one from another; a chute in which they receive further propulsion and achieve complete separation; an optic observation cell where, having left the chute, the grains pass and are observed by appropriate optic sensors; a control unit that receives from the sensors optic signals related to the color of the grain observed and classifies it as acceptable or not; a device that expels the grains singled out for rejection which have to be diverted away from the flow of good grains.
  • a particularly well known process and machine is that made by the firm Gunson's Sortex Limited of London (G.B.), which can separate grains through observation of two distinct color bands, characteristic of the nature of the material observed, obtained by use of optic filters.
  • This machine has an observation cell in which there is a lighted chamber fitted with optic-electronic observation devices; lighting is supplied by halogen lamps and there are three observation devices in the chamber placed at an angle of 120 degrees on a plane normal to the path taken by the grains through the observation chamber, each device focussing the image of the surface of a grain exposed towards the observation device onto optic sensors, these sensors being able to generate an electronic signal of colorimetric information; each grain that crosses the observation cell passes in front of three appropriately colored backgrounds, each one placed opposite its own observation device; the light reflected by a grain, and by that part of the background not covered by a grain in each of the observation devices, it caught by a set of lenses, split up into two beams of light by a semi-reflecting mirror and, through two optic filters, strikes two optic
  • the machine's control unit therefore distinguishes the grains on the basis of six signals it receives from the observation cell; each signal is linearly amplified and all six together are sent to a selector that emits a single signal possessing the same value as that of the highest incoming signal. Distinction between grains takes place when the value of the signal emitted by the selector exceeds a value set by an operator; the comparison between these two values is made by a level comparator which, if a grain has to be diverted, sends an electric pulse to a delaying device of the pulse itself thus allowing sufficient time for the grain due for rejection to arrive at a pneumatic expelling device worked by a solenoid valve set for a previously established time by the above delaying device.
  • rejected grains are thus diverted from the normal trajectory of fall and are collected in a separate container.
  • This procedure and the machine operating it are also able to send, to the above selector, three further signals created by a linear combination of the two electric signals of each of the three observation devices thus forming a further field of classification which the makers have called bichromatic.
  • a third drawback exists because the machine is unable to make a colorimetric classification of classes of grains unless their colorimetric characteristics are greater or lesser than a certain level of luminosity, so that classes of grains cannot be sorted if they possess colorimetric characteristics of an intermediate nature compard with the characteristics of the whole quantity.
  • the purpose of this present invention is to reduce or eliminate the above listed drawbacks relating to the machine made by Gunson's Sortex Limited by adopting a computer as a means of control and classification, possibly in a sorting machine such as that made by Sortex for example, without having to make significant changes to the machine's optic-electronic measuring system, or else in a sorting machine whose reflected light is divided into z number of beams that strike a set of z optic sensors contained in each of the n observation devices, it being possible for z to be greater than 2.
  • the procedure conforming to this present invention includes storing the grain batch in a bin or hopper, separating the grains belonging to the batch one from another as by passing the grains along a chute, passing each single grain through an observation cell, observation of each single grain by and number of optic-electronic observation devices, hereinafter called observation devices, within the observation cell lit by halogen lamps, for example, each single grain being observed through a window when it passes in front of an appropriate background placed before each observation device, such procedure therefore being characterized by the fact that it includes an initial stage in which the color signals generated by passage of a grain are sampled, numerically converted and stored, m values being finally obtained for each signal examined, the total of such values being in turn mathematically processed by a computer and reduced to a quantity of numbers equal to z beams of light into which the reflected light is divided, such quantity defining an equal quantity of coordinates on a plane or on a multi-dimensional space of distribution representing the colorimetric characteristics of each grain observed, and further characterized by the fact that, where z equals 2, the
  • the first phase comprises an initial sub-phase in which all the signals supplied by the n observation devices are sampled in succession, converted and stored in a RAM memory in order to generate a group of n ⁇ z ⁇ m numbers supplying the values of the signals generated by the observation devices during passage of a grain through the observation cell, also comprising a second sub-phase in which all the m values relating to one and the same signal are added together to give z ⁇ n values, n of which relate to a first color band, n of which relate to a second color band and so on, according to the z quantity of color bands into which the reflected light is divided, comprising as well a third subphase in which the relative mean value is subtracted from each of the z ⁇ n values generated in the second subphase, such mean value having been previously calculated for each color signal by observation of representative samples of the grains in the lot for sorting, to obtain z ⁇ n standard values.
  • the computer first estimates to which square of the electronic grid, related to the plane on which the above values A and C are disposed, the pair of coordinates, calculated in the first phase of the process, correspond and it then checks the value contained in the square to decide whether to accept or reject the grain observed. Identification is further made in the computer of the grid squares corresponding to grains to be rejected in accordance with the sorting which the operator carries out using the possible options offered by the machine. Again, the process can also forecast the percentage of grains the sorting machine will reject according to the type of sorting selected by the operator. This forecast can be made by preliminary observation of a sample that is statistically typical of the colorimetric characteristics of the quantity to be observed.
  • the machine for executing the invented process is able to make decisions based on the above two coordinates; it includes a sorter fitted with devices for separating out the grains in a quantity one from another, an observation cell lit by halogen lamps containing n observation devices, each associated to an appropriate background, capable of generating appropriate signals according to the colorimetric characteristics of each grain observed, a classifier and a device for expelling the undesirable grains.
  • the machine is characterized by the fact that the sorter is related to an analog-numerical converter for converting the analog signals received from the sorter's observation devices into the most appropriate binary form; that it is related to an adapter to render logical a signal transmitted by the sorter to indicate the presence of a grain in the field covered by the observation devices, able to receive from a computer a signal for expelling a grain and to pass that signal to the sorter having made such signal electrically compatible with the electric circuit of the sorter; that it is related to a computer able to receive from the adapter a signal indicating the presence of a grain in the field covered by the observation device, which through the analog-digital converter, can sample and store a certain number of signals sent by the sorter until the above signal denoting presence of the grain indicates that it has passed out of the observation device's field of observation, that can execute the above initial pre-processing phase and can therefore execute the second phase of automatic classification to decide whether or not the observed grain is acceptable and, if not, that can operate the sorter
  • the operator uses the computer's ability to classify by instructing it for the type of sorting he decides to do, and for the desired percentage of rejects.
  • the operator hand picks a number of grains he considers typically unacceptable and shows them to the machine so that it can memorize their colorimetric characteristics on the grid and later be able to recognise them.
  • the computer first asks to see a sample statistically representative of the whole quantity (hereinafter called the representative sample) to be sorted so that the parameters needed for the subsequent operative stage can be processed (e.g. the mean initial values of the various signals), and so that a statistical model reproducing on the (A,C) plane all the colorimetric characteristics of the above quantity can be formed in the computer's memory.
  • the representative sample a sample statistically representative of the whole quantity
  • the parameters needed for the subsequent operative stage e.g. the mean initial values of the various signals
  • the advantages of having the observed grains represented on the plane where the A,C values are disposed consist both of better detection of the colorimetric characteristics of the grains irrespective of their positions when in the observation cell, and of easier identification of characteristic classes in the quantity of grains under examination.
  • summation signal-by-signal of the acquired values minimizes any measuring errors due to the way in which the grain presents itself in the observation cell, relatively to the rotations round the optic axis of the observation device; this is clear if we consider that the summation provides information about the total energy reflected from the surface of the grain viewed by the observation device concerned.
  • Subtraction of the mean value from each of the above summations avoids the need for putting into the machine a background having chromatic characteristics such as would generate signals averaging null, and further reduces the effects caused by variations in the level of efficiency of one observation device compared with another, since the common reference for the various observation devices is the "average" grain in the whole batch. Further, as the origin of the axes of the electronic grid always coincides with the centre of gravity of distribution of the batch, the computer can function with a smaller memory.
  • the method of obtaining A and C values by linear combination of R with V assists the automatic identification of classes in the whole batch (most important from the aspect of colorimetric sorting) composed of the darker grains, of the lighter ones and of those in which one color band prevails rather than the other.
  • FIG. 1 is a diagrammatic layout of a machine following the teachings of the invention.
  • FIG. 2 is a diagram of the analog to digital converter shown in block form in FIG. 1.
  • FIGS. 3 and 4 are diagrams of the interfaces for the signals, respectively indicating presence of the grain and expulsion, given by the adapter shown in block form in FIG. 1.
  • FIG. 5 is an example of disposition, over a plane of A, C values of a typical sample taken from a quantity of coffee beans, and shows an electronic grid associated with the above plane.
  • FIG. 6 sets forth a list of variables for use in flow diagrams of computer programs which may be employed for a method and an apparatus according to the invention
  • FIG. 7 is a flow diagram of a main computer program for controlling a method and an apparatus in accordance with the invention.
  • FIG. 8 is a flow diagram of a first sub-program for use with the main program of FIG. 7;
  • FIG. 9 is a flow diagram of a second sub-program for use with the main program of FIG. 7;
  • FIG. 10 is a flow diagram of a third sub-program for use with the main program of FIG. 7;
  • FIG. 11 is a flow diagram of a fourth sub-program for use with the main program of FIG. 7;
  • FIG. 12 is a flow diagram of a fifth sub-program for use with the main program of FIG. 7.
  • FIG. 1 shows the following: device (1) is the Sortex model 1121 sorter able to observe one grain at a time, to generate the right color signals and, if necessary, expel the undesired grains from the batch.
  • analog-numeric converter device converts the signals at its input into the binary numerical form required by the computer.
  • Presence Another analog signal called "presence”, which can show when a grain lies in front of the observers, is sent to the computer through device (3) which renders a logic and electrically compatible signal to the computer.
  • Device (3) also receives from an electronic computer (4) the signal for expulsion and passes it to the Sortex 1121 sorter having first made it electrically compatible with the circuitry of the machine.
  • the sequence of operations is as follows: the computer waits for the logic level of the presence signal to indicate arrival of a grain in the observation cell, then it begins to sample and memorize a certain number of signals, preferably six, until the presence signal indicates that the grain is no longer in front of the observers.
  • the computer If it is unacceptable, the computer, through the expulsion signal, has the grain expelled; if however it is acceptable the expulsion signal is withheld. The computer is ready for the next grain and for starting a fresh cycle.
  • the computer directs a number of logic signals for control of the analog-numerical conversion circuit. It generates one signal for initiating sampling and conversion sequence, six signals for addressing the signal to be sampled, and receives a signal indicating that conversion has been made.
  • the functions of the device here described are preferred as to ensure collection of an adequate number of samples per grain to avoid loss of colorimetric information.
  • Device (4) is the computer which, in accordance with the specifications given in detail below, can process the samples obtained by conversion of the color signals, and can generate an expulsion signal if required.
  • Device (6) is that part which enables the operator to converse with the computer by use of a video terminal or keyboard, for example.
  • the electronic computer (4) used in this present invention is model 2113E made by Hewlett Packard (U.S.A.) whose main features consist of:
  • DMA direct memory access
  • the operator board (6) is a video terminal by Hewlett Packard, model HP2645A, connected to the main computer by an RS232-C asynchronous serial line operated in the computer by an HP12966 interface.
  • the electronic computer (4) is also fitted with a disk storage (required for using this particular operative system) type HP7905A, having a total capacity of 15 megabytes, with interface, also with an interface (5) type HP12489 which, with its 16 logic lines (TTL) for input and 16 for output, is used as a control circuit for the analog to digital converter, as a receiver of the "presence" signal and as a generator of the expulsion signal.
  • a disk storage (required for using this particular operative system) type HP7905A, having a total capacity of 15 megabytes
  • interface also with an interface (5) type HP12489 which, with its 16 logic lines (TTL) for input and 16 for output, is used as a control circuit for the analog to digital converter, as a receiver of the "presence" signal and as a generator of the expulsion signal.
  • TTL 16 logic lines
  • FIG. 2 shows the wiring of the DAS 1128 analogic-numerical converter (2): the analog inputs IN1-IN5 are connected direct to the color signals sent out by the SORTEX 1121 observation devices, namely at the input of the level comparator that activates the ejector; (7) indicates two diodes for overload protection; the sampling circuit output (S&H OUT) is connected to the input of the numerical converter (ADC IN); the logic control inputs of the DAS 1128, namely MUX ADDRESS IN 1,2,3,4, STROBE, TRIG, LOAD ENABLE are connected to the same number of logic outputs of interface (5) mounted on the computer, while the end-of-conversion signal EOC and the 12 bits of conversion result B1-B12 are connected to the same number of input lines to interface (5).
  • the analog inputs IN1-IN5 are connected direct to the color signals sent out by the SORTEX 1121 observation devices, namely at the input of the level comparator that activates the ejector; (7) indicates two di
  • the operational sequence for acquiring a color signal is as follows; the LOAD ENABLE line is cleared, the binary address for the sampling signal is set on the four MUX ADDRESS IN lines and the STROBE is cleared so that the address can be stored in the internal memory of the analog-numerical converter (2), DAS 1128, the STROBE and LOAD lines are returned to the logic state one and the TRIG line is cleared to make way for sampling and subsequent conversion of the chosen signal.
  • DAS 1128 A configuration has been given to DAS 1128 to enable it to convert to 12 bits in a measuring field of -5.12,+5.12 volt so that its resolution is 2.5 m volt.
  • FIG. 3 gives a diagram for generating the "presence" signal (8): the analog signal known as CLAMP is taken from inside the Sortex 1121 sorter (1) and is sent to an adjustable level comparator (9) made with a type LM324 operational amplifier, a product of National Semiconductor Corporation, the output of which passes, by means of a resistive divider, through an integrated circuit (10), type 7404, that reverses its logic state and makes it electrically compatible with interface (5) situated in the computer (4), to which it is connected.
  • CLAMP the analog signal known as CLAMP is taken from inside the Sortex 1121 sorter (1) and is sent to an adjustable level comparator (9) made with a type LM324 operational amplifier, a product of National Semiconductor Corporation, the output of which passes, by means of a resistive divider, through an integrated circuit (10), type 7404, that reverses its logic state and makes it electrically compatible with interface (5) situated in the computer (4), to which it is connected.
  • FIG. 4 gives a diagram for generating the expulsion signal.
  • the expulsion signal is applied to an output line of interface (5), is passed to the intergrated circuit (11), type 7404, that inhibits its logic state, after which it passes to the input of a monostable integrated circuit (12) type 74123, made by Texas Instruments Corporation, whose task is to make the pulse last for about 100 microseconds; through a 7407 integrated circuit (13) with an open collector output, which circuit amplifies its current, the signal then goes to the drive circuit of the solenoid for expulsion mounted in the sorter (1).
  • a monostable integrated circuit (12) type 74123 made by Texas Instruments Corporation, whose task is to make the pulse last for about 100 microseconds
  • a 7407 integrated circuit (13) with an open collector output, which circuit amplifies its current, the signal then goes to the drive circuit of the solenoid for expulsion mounted in the sorter (1).
  • the program executed by the machine described consists of a main program and five sub-programs:
  • sub-program 1 samples the color signals and calculates the (A,C) values
  • sub-program 2 processes the statistical characteristics of the batch to be sorted (based on the sample observed);
  • sub-program 3 converses with the operator to establish, in the (A,C) plane, the characteristics of the classes of grains that must be rejected;
  • sub-program 4 classifies the grain observed and rejects it if necessary.
  • the main program has to direct execution of the various sub-programs in such a way that a logical sequence of operations is observed.
  • the first step is to switch on the sorter (1);
  • This program analyzes statistical distribution of a representative sample and then stores it.
  • this representation consists of a rectangular matrix; the column number of one of its squares depends on the value of A, and the line number on the value of C.
  • each square contains a number that represents the relative frequency, or characteristic, of the grains in the typical sample with (A,C) values corresponding to that square.
  • This matrix generated by sub-program 2, hereinafter called “population map” enables the computer to recognise automatically certain classes of grains and also, when details of rejection are being decided, to forecast the percentage of rejects to suit the request made by the user.
  • the algorithm is the following:
  • this program constructs a matrix, similar to the population map, in which the squares corresponding to grains to be rejected from the batch are marked.
  • the final result is therefore a matrix that covers the color plane (A,C) in the same way as the population map, but in which each square contains either number one or zero according to whether the grains with corresponding colorimetric characteristics are acceptable or unacceptable.
  • the operator has available seven different modes for instructing the machine about the grains he wants to be rejected from the batch:
  • the operator When the first five of these modes are used the operator must specify as well as the percentage of grains he wants to have rejected; for example he can request rejection of a quantity of dark grains amounting to 3% of the batch.
  • the first five modes are based on the structural characteristics of the (A,C) plane in which axis A (see FIG. 5) represents mean luminosity of the grain observed, so that the lighter colored grains are represented on the positive side and the darker ones on the negative side, while axis C represents color information so that the redder grains in the batch are on the positive side and the greener ones are on the negative side.
  • the fifth mode also makes appropriate use of the relative frequencies contained in the population map in order to identify the grains that probably will not exist since, being "different" from most of the grains in the batch, they are generally considered as faulty grains.
  • the operator When using the sixth mode, however, the operator must be able to show the sorter some examples of the kinds of grains he wants to have rejected. In that case the machine stores their position on the (A,C) plane in the "sorting map" so that it will be able to recognise similar grains during the subsequent stage of sorting them.
  • mode seven the operator can himself program the squares on the sorting map corresponding to the grains to be rejeced, by indicating the recognition number of the square to the computer. Using this mode it is possible to program a type of sorting appropriate for the most general kind of case.
  • This program classifies the grain observed in acceptable or unacceptable according to what the (I,J) square in the "sorting-map" contains.
  • NC number of columns in the matrix
  • A,C coordinates generated by SUB 1 following observation of a grain
  • HP2113E computer has been used with an RTEIV-B real time operative system supplied by Hewlett-Packard.
  • Sub-program 1 will now be given as an example executing sampling of the color signals generated by a grain when passing through the observation cell, and afterwards calculating the coordinates (A,C).
  • the control of the DAS1128 converter has requested that a suitable driver be drawn up, able to realize with the maximum possible efficiency the operations of acquisition of the signals or expulsion of the unacceptable grain.

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  • Sorting Of Articles (AREA)
  • Spectrometry And Color Measurement (AREA)
  • Combined Means For Separation Of Solids (AREA)
  • Disintegrating Or Milling (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
  • Formation And Processing Of Food Products (AREA)
  • Glanulating (AREA)
US06/918,626 1982-12-21 1986-10-14 Procedure for sorting a granular material and a machine for executing the procedure Expired - Lifetime US4807762A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT24875A/82 1982-12-21
IT24875/82A IT1205622B (it) 1982-12-21 1982-12-21 Procedimento per effettuare una selezione in un materiale granuliforme e macchina per attuare il procedimento

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EP (1) EP0111877B1 (it)
JP (1) JP2767583B2 (it)
AT (1) ATE64556T1 (it)
BR (1) BR8306997A (it)
CA (1) CA1234071A (it)
DE (1) DE3382320D1 (it)
ES (1) ES8504503A1 (it)
IT (1) IT1205622B (it)

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US5085325A (en) * 1988-03-08 1992-02-04 Simco/Ramic Corporation Color sorting system and method
US5333739A (en) * 1992-03-27 1994-08-02 Bodenseewerk Geratechnik GmbH Method and apparatus for sorting bulk material
US5407082A (en) * 1994-07-28 1995-04-18 Esm International Inc. Automatic ejector rate normalizer using multiple trip levels established in a master channel
USRE34924E (en) * 1990-09-13 1995-05-02 Unr Industries, Inc. Roller track for storage rack, roller conveyor, or similar apparatus
US5579921A (en) * 1991-09-30 1996-12-03 Elexso Sortiertechnik Gmbh Optical sorting system for a color sorting machine and process
US5924575A (en) * 1997-09-15 1999-07-20 General Electric Company Method and apparatus for color-based sorting of titanium fragments
WO2012088400A1 (en) * 2010-12-22 2012-06-28 Titanium Metals Corporation System and method for inspecting and sorting particles and process for qualifying the same with seed particles

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GB2151018B (en) * 1983-12-06 1987-07-22 Gunsons Sortex Ltd Sorting machine and method
US4615902A (en) * 1985-09-03 1986-10-07 E. I. Du Pont De Nemours And Company Color panel standards sorting system
JPS62247877A (ja) * 1986-04-18 1987-10-28 有限会社　安西総合研究所 色彩選別装置
EP0342354A3 (en) * 1988-04-15 1992-01-08 Tecnostral S.A. Industria E Tecnologia Color sorting apparatus
DE68926537T2 (de) * 1989-06-13 1997-01-16 Roger Frederick Bailey Optische Sortierung von Gegenständen
DE4029202A1 (de) * 1990-09-14 1992-03-19 Buehler Ag Verfahren zum sortieren von partikeln eines schuettgutes und vorrichtungen hierfuer
DE4345106C2 (de) * 1993-12-28 1995-11-23 Reemtsma H F & Ph Verfahren zum optischen Sortieren von Schüttgut
EP0775533A3 (de) * 1995-11-24 1998-06-17 Elpatronic Ag Sortierverfahren
FR2752178B1 (fr) * 1996-08-06 1998-10-09 Vauche P Sa Machine de tri de bouteilles plastiques et procede mis en oeuvre par la machine
US7893378B2 (en) 2004-08-10 2011-02-22 Mss, Inc. Materials recovery facility process optimization via unit operation feedback
NL2015008B1 (nl) 2015-06-22 2017-01-24 De Greef's Wagen- Carrosserie-En Machb B V Sorteersysteem voor het sorteren van producten en werkwijze daarvoor.
TWI714088B (zh) * 2019-05-17 2020-12-21 東駒股份有限公司 具有轉盤之咖啡豆篩選系統

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Cited By (12)

* Cited by examiner, † Cited by third party
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US5085325A (en) * 1988-03-08 1992-02-04 Simco/Ramic Corporation Color sorting system and method
US5073857A (en) * 1989-06-01 1991-12-17 Accuron Corporation Method and apparatus for cell analysis
US5077806A (en) * 1989-06-01 1991-12-31 Accuron Corporation Machine vision analysis apparatus
USRE34924E (en) * 1990-09-13 1995-05-02 Unr Industries, Inc. Roller track for storage rack, roller conveyor, or similar apparatus
US5579921A (en) * 1991-09-30 1996-12-03 Elexso Sortiertechnik Gmbh Optical sorting system for a color sorting machine and process
US5333739A (en) * 1992-03-27 1994-08-02 Bodenseewerk Geratechnik GmbH Method and apparatus for sorting bulk material
US5407082A (en) * 1994-07-28 1995-04-18 Esm International Inc. Automatic ejector rate normalizer using multiple trip levels established in a master channel
ES2107944A1 (es) * 1994-07-28 1997-12-01 Satake Usa Inc Normalizador automatico de la proporcion de rechazo de un expulsor empleando niveles multiples de disparo establecidos en un canal maestro.
US5924575A (en) * 1997-09-15 1999-07-20 General Electric Company Method and apparatus for color-based sorting of titanium fragments
US6043445A (en) * 1997-09-15 2000-03-28 General Electric Company Apparatus for color-based sorting of titanium fragments
WO2012088400A1 (en) * 2010-12-22 2012-06-28 Titanium Metals Corporation System and method for inspecting and sorting particles and process for qualifying the same with seed particles
US8600545B2 (en) 2010-12-22 2013-12-03 Titanium Metals Corporation System and method for inspecting and sorting particles and process for qualifying the same with seed particles

Also Published As

Publication number Publication date
BR8306997A (pt) 1984-07-24
DE3382320D1 (de) 1991-07-25
JPS59166280A (ja) 1984-09-19
ATE64556T1 (de) 1991-07-15
EP0111877B1 (en) 1991-06-19
CA1234071A (en) 1988-03-15
IT8224875A0 (it) 1982-12-21
EP0111877A1 (en) 1984-06-27
IT1205622B (it) 1989-03-23
JP2767583B2 (ja) 1998-06-18
ES528198A0 (es) 1985-05-01
ES8504503A1 (es) 1985-05-01

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